Robot arm and methods of use

ABSTRACT

A robot arm and method for using the robot arm. Embodiments may be directed to an apparatus comprising: a robot arm; an end effector coupled at a distal end of the robot arm and configured to hold a surgical tool; a plurality of motors operable to move the robot arm; and an activation assembly operable to send a move signal allowing an operator to move the robot arm.

BACKGROUND

Embodiments are directed to a robot arm and, more particularly, a robotarm that may assist surgeons with medical tools in an operation.

Various medical procedures require the precise localization of athree-dimensional position of a surgical instrument within the body inorder to effect optimized treatment. For example, some surgicalprocedures to fuse vertebrae require that a surgeon drill multiple holesinto the bone structure at specific locations. To achieve high levels ofmechanical integrity in the fusing system, and to balance the forcescreated in the bone structure, it is necessary that the holes aredrilled at the correct location. Vertebrae, like most bone structures,have complex shapes made up of non-planar curved surfaces making preciseand perpendicular drilling difficult. Conventionally, a surgeon manuallyholds and positions a drill guide tube by using a guidance system tooverlay the drill tube's position onto a three dimensional image of thebone structure. This manual process is both tedious and time consuming.The success of the surgery is largely dependent upon the dexterity ofthe surgeon who performs it.

Robotic systems have been employed to help reduce tedious and timeconsuming processes. Many of the current robots used in surgicalapplications are specifically intended for magnifying/steadying surgicalmovements or providing a template for milling the bone surface. However,these robots are suboptimal for drilling holes and other related tasks.

Consequently, there is a need for a robot system that minimizes humanand robotic error while allowing fast and efficient surgical access. Theability to perform operations on a patient with a robot system willgreatly diminish the adverse effects upon the patient. The applicationof the robot system and the techniques used with the robot system mayenhance the overall surgical operation and the results of the operation.

SUMMARY

Embodiments may be directed to an apparatus comprising: a robot arm; anend effector coupled at a distal end of the robot arm and configured tohold a surgical tool; a plurality of motors operable to move the robotarm; and an activation assembly operable to send a move signal allowingan operator to move the robot arm.

Embodiments may be directed to a method of moving a robot armcomprising: depressing a primary button on an activation assembly;applying force to the activation assembly; sensing the force with a loadcell; communicating force to a computer processor; activating motorswithin robot arm using the computer processor; and moving the robot armwith the motors in the direction of the applied force.

Embodiments may be directed to a method of moving a robot armcomprising: depressing a primary button on an activation assembly;applying force to the activation assembly; moving the robot arm with themotors in the direction of the applied force; moving the robot arm to agravity well; and stopping the robot arm in the gravity well.

BRIEF DESCRIPTION OF THE DRAWINGS

For a detailed description of the preferred embodiments of theinvention, reference will now be made to the accompanying drawings inwhich:

FIG. 1 illustrates an embodiment of an automated medical system;

FIG. 2 illustrates an embodiment of a robot support system;

FIG. 3 illustrates an embodiment of a camera tracking system;

FIG. 4 illustrates an embodiment of a SCARA with end effector;

FIG. 5 illustrates an embodiment of a medical operation in which a robotsupport system and a camera system are disposed around a patient.

FIG. 6 illustrates an embodiment of an end effector;

FIG. 7 illustrates an embodiment of a cut away of an end effector;

FIG. 8 illustrates an embodiment of a perspective view of an endeffector cut away;

FIG. 9 illustrates an embodiment of a schematic of software architectureused in an automated medical system;

FIG. 10 illustrates an embodiment of a C-Arm imaging device;

FIG. 11 illustrates an embodiment of a O-Arm® imaging device;

FIG. 12 illustrates an embodiment of a gravity well for a medicalprocedure;

FIG. 13 illustrates an embodiment of an end effector tool moving towarda gravity well; and

FIG. 14 illustrates an embodiment of an end effector tool positionedalong a gravity well.

DETAILED DESCRIPTION

FIG. 1 illustrates an embodiment of an automated medical system 2. Priorto performance of an invasive medical procedure, a three-dimensional(“3D”) image scan may be taken of a desired surgical area of a patientand sent to a computer platform in communication with an automatedmedical system 2. In some embodiments, a physician may then program adesired point of insertion and trajectory for a surgical instrument toreach a desired anatomical target within or upon the body of thepatient. In some embodiments, the desired point of insertion andtrajectory may be planned on the 3D image scan, which in someembodiments, may be displayed on a display. In some embodiments, aphysician may plan the trajectory and desired insertion point (if any)on a computed tomography scan (hereinafter referred to as “CT scan”) ofthe patient. In some embodiments, the CT scan may be an isocentric C-armtype scan, an O-arm type scan, or intraoperative CT scan as is known inthe art. However, in some embodiments, any known 3D image scan may beused in accordance with the embodiments of automated medical system 2.

A medical procedure may begin with automated medical system 2 movingfrom medical storage to a medical procedure room. Automated medicalsystem 2 may be maneuvered through doorways, halls, and elevators toreach a medical procedure room. Within the room, automated medicalsystem 2 may be physically separated into two separate and distinctsystems, a robot support system 4 and a camera tracking system 6. Robotsupport system 4 may be positioned adjacent the patient at any suitablelocation to properly assist medical personnel. Camera tracking system 6may be positioned at the base of the patient or any other locationsuitable to track movement of robot support system 4 and the patient.Robot support system 4 and camera tracking system 6 may be powered by anonboard power source and/or plugged into an external wall outlet.

Automated medical system 2, as illustrated in FIG. 1, may assistsurgeons and doctors during medical procedures. Automated medical system2 may assist surgeons and doctors by holding tools, aligning tools,using tools, guiding tools, and/or positioning tools for use. Inembodiments, as illustrated in FIG. 1, automated medical system 2 maycomprise of a robot support system 4 and a camera tracking system 6.Both systems may be coupled together by any suitable means. Suitablemeans may be, but are not limited to mechanical latches, ties, clamps,or buttresses, or magnetic or magnetized surfaces. The ability tocombine robot support system 4 and camera tracking system 6 may allowfor automated medical system 2 to maneuver and move as a single unit.This combination may allow automated medical system 2 to have a smallfootprint in an area, allow easier movement through narrow passages andaround turns, and allow storage within a smaller area.

Robot support system 4 may be used to assist a surgeon by holding and/orusing tools during a medical procedure. To properly utilize and holdtools, robot support system 4 may rely on a plurality of motors,computers, and/or actuators to function properly. Illustrated in FIG. 1,robot body 8 may act as the structure in which the plurality of motors,computers, and/or actuators may be secured within robot support system4. Robot body 8 may also provide support for robot telescoping supportarm 16. In embodiments, robot body 8 may be made of any suitablematerial. Suitable material may be, but is not limited to, metal such astitanium, aluminum, or stainless steel, carbon fiber, fiberglass, orheavy-duty plastic. The size of robot body 8 may provide a solidplatform on which other components may connect and operate. Robot body 8may house, conceal, and protect the plurality of motors, computers,and/or actuators that may operate attached components.

Robot base 10 may act as a lower support for robot support system 4. Inembodiments, robot base 10 may support robot body 8 and may attach robotbody 8 to a plurality of powered wheels 12. This attachment to wheelsmay allow robot body 8 to move in space efficiently. Robot base 10 mayrun the length and width of robot body 8. Robot base 10 may be about twoinches to about 10 inches tall. Robot base 10 may be made of anysuitable material. Suitable material may be, but is not limited to,metal such as titanium, aluminum, or stainless steel, carbon fiber,fiberglass, or heavy-duty plastic or resin. Robot base 10 may cover,protect, and support powered wheels 12.

In embodiments, as illustrated in FIG. 1, at least one powered wheel 12may be attached to robot base 10. Powered wheels 12 may attach to robotbase 10 at any location. Each individual powered wheel 12 may rotateabout a vertical axis in any direction. A motor may be disposed above,within, or adjacent to powered wheel 12. This motor may allow forautomated medical system 2 to maneuver into any location and stabilizeand/or level automated medical system 2. A rod, located within oradjacent to powered wheel 12, may be pressed into a surface by themotor. The rod, not pictured, may be made of any suitable metal to liftautomated medical system 2. Suitable metal may be, but is not limitedto, stainless steel, aluminum, or titanium. Additionally, the rod maycomprise at the contact-surface-side end a buffer, not pictured, whichmay prevent the rod from slipping and/or create a suitable contactsurface. The material may be any suitable material to act as a buffer.Suitable material may be, but is not limited to, a plastic, neoprene,rubber, or textured metal. The rod may lift powered wheel 10, which maylift automated medical system 2, to any height required to level orotherwise fix the orientation of the automated medical system 2 inrelation to a patient. The weight of automated medical system 2,supported through small contact areas by the rod on each wheel, preventsautomated medical system 2 from moving during a medical procedure. Thisrigid positioning may prevent objects and/or people from movingautomated medical system 2 by accident.

Moving automated medical system 2 may be facilitated using robot railing14. Robot railing 14 provides a person with the ability to moveautomated medical system 2 without grasping robot body 8. As illustratedin FIG. 1, robot railing 14 may run the length of robot body 8, shorterthan robot body 8, and/or may run longer the length of robot body 8.Robot railing 14 may be made of any suitable material. Suitable materialmay be, but is not limited to, metal such as titanium, aluminum, orstainless steel, carbon fiber, fiberglass, or heavy-duty plastic. Robotrailing 14 may further provide protection to robot body 8, preventingobjects and or personnel from touching, hitting, or bumping into robotbody 8.

Robot body 8 may provide support for a Selective Compliance ArticulatedRobot Arm, hereafter referred to as a “SCARA.” A SCARA 24 may bebeneficial to use within the automated medical system due to therepeatability and compactness of the robotic arm. The compactness of aSCARA may provide additional space within a medical procedure, which mayallow medical professionals to perform medical procedures free of excessclutter and confining areas. SCARA 24 may comprise robot telescopingsupport 16, robot support arm 18, and/or robot arm 20. Robot telescopingsupport 16 may be disposed along robot body 8. As illustrated in FIG. 1,robot telescoping support 16 may provide support for the SCARA 24 anddisplay 34. In embodiments, robot telescoping support 16 may extend andcontract in a vertical direction. Robot telescoping support 16 may bemade of any suitable material. Suitable material may be, but is notlimited to, metal such as titanium or stainless steel, carbon fiber,fiberglass, or heavy-duty plastic. The body of robot telescoping support16 may be any width and/or height in which to support the stress andweight placed upon it. In embodiments, medical personnel may move SCARA24 through a command submitted by the medical personnel. The command mayoriginate from input received on display 34 and/or a tablet. The commandmay come from the depression of a switch and/or the depression of aplurality of switches. Best illustrated in FIGS. 4 and 5, an activationassembly 60 may comprise a switch and/or a plurality of switches. Theactivation assembly 60 may be operable to transmit a move command to theSCARA 24 allowing an operator to manually manipulate the SCARA 24. Whenthe switch, or plurality of switches, is depressed the medical personnelmay have the ability to move SCARA 24 easily. Additionally, when theSCARA 24 is not receiving a command to move, the SCARA 24 may lock inplace to prevent accidental movement by personnel and/or other objects.By locking in place, the SCARA 24 provides a solid platform upon whichan end effector 22 and end effector tool 26 may be used during a medicaloperation.

Robot support arm 18 may be disposed on robot telescoping support 16 byany suitable means. Suitable means may be, but is not limited to, nutsand bolts, ball and socket fitting, press fitting, weld, adhesion,screws, rivets, clamps, latches, and/or any combination thereof. Inembodiments, best seen in FIGS. 1 and 2, robot support arm 18 may rotatein any direction in regard to robot telescoping support 16. Robotsupport arm 18 may rotate three hundred and sixty degrees around robottelescoping support 16. Robot arm 20 may connect to robot support arm 18at any suitable location. Robot arm 20 may attach to robot support arm16 by any suitable means. Suitable means may be, but is not limited to,nuts and bolts, ball and socket fitting, press fitting, weld, adhesion,screws, rivets, clamps, latches, and/or any combination thereof. Robotarm 20 may rotate in any direction in regards to robot support arm 18,in embodiments, robot arm 20 may rotate three hundred and sixty degreesin regards to robot support arm 18. This free rotation may allow anoperator to position robot arm 20 as desired.

End effector 22 may attach to robot arm 20 in any suitable location. Endeffector 22 may attach to robot arm 20 by any suitable means. Suitablemeans may be, but is not limited to, latch, clamp, nuts and bolts, balland socket fitting, press fitting, weld, adhesion, screws, rivets,and/or any combination thereof. End effector 22 may move in anydirection in relation to robot arm 20. This freedom of directionalitymay allow a user to move end effector 22 to a desired area. An endeffector tool 26, as illustrated in FIG. 4 may attach to end effector22. End effector tool 26 may be any tool selected for a medicalprocedure. End effector tool 26 may be disposed and removed from endeffector 22 by any suitable means. Suitable means may be, but is notlimited to, clamp, latch, tie, press fit, or magnet. In embodiments, endeffector tool 26 may have a dynamic reference array 52. Dynamicreference arrays 52, herein referred to as “DRAs”, are rigid bodieswhich may be disposed on a patient and/or tool in a navigated surgicalprocedure. Their purpose may be to allow 3D localization systems totrack the positions of tracking markers that are embedded in the DRA 52,and thereby track the real-time position of relevant anatomy. Trackingmarkers may be seen, recorded, and/or processed by camera 46. Thistracking of 3D coordinates of tracking markers may allow automatedmedical system 2 to find the DRA 52 in any space in relation to apatient 50.

As illustrated in FIG. 1, a light indicator 28 may be positioned on topof the SCARA 24. Light indicator 28 may illuminate as any type of lightto indicate “conditions” in which automated medical system 2 iscurrently operating. For example, the illumination of green may indicatethat all systems are normal. Illuminating red may indicate thatautomated medical system 2 is not operating normally. A pulsating lightmay mean automated medical system 2 is performing a function.Combinations of light and pulsation may create a nearly limitless amountof combinations in which to communicate the current operating“conditions.” In embodiments, the light may be produced by LED bulbs,which may form a ring around light indicator 28. Light indicator 28 maycomprise a fully permeable material that may let light shine through theentirety of light indicator 28. In embodiments, light indicator 28 mayonly allow a ring and/or designated sections of light indicator 28 toallow light to pass through.

Light indicator 28 may be attached to lower display support 30. Lowerdisplay support 30, as illustrated in FIG. 2 may allow an operator tomaneuver display 34 to any suitable location. Lower display support 30may attach to light indicator 28 by any suitable means. Suitable meansmay be, but is not limited to, latch, clamp, nuts and bolts, ball andsocket fitting, press fitting, weld, adhesion, screws, rivets, and/orany combination thereof. In embodiments, lower display support 30 mayrotate about light indicator 28. In embodiments, lower display support30 may attach rigidly to light indicator 28. Light indicator 28 may thenrotate three hundred and sixty degrees about robot support arm 18. Lowerdisplay support 30 may be of any suitable length, a suitable length maybe about eight inches to about thirty four inches. Lower display support30 may act as a base for upper display support 32.

Upper display support 32 may attach to lower display support 30 by anysuitable means. Suitable means may be, but are not limited to, latch,clamp, nuts and bolts, ball and socket fitting, press fitting, weld,adhesion, screws, rivets, and/or any combination thereof. Upper displaysupport 32 may be of any suitable length, a suitable length may be abouteight inches to about thirty four inches. In embodiments, as illustratedin FIG. 1, upper display support 32 may allow display 34 to rotate threehundred and sixty degrees in relation to upper display support 32.Likewise, upper display support 32 may rotate three hundred and sixtydegrees in relation to lower display support 30.

Display 34 may be any device which may be supported by upper displaysupport 32. In embodiments, as illustrated in FIG. 2, display 34 mayproduce color and/or black and white images. The width of display 34 maybe about eight inches to about thirty inches wide. The height of display34 may be about six inches to about twenty two inches tall. The depth ofdisplay 34 may be about one-half inch to about four inches.

In embodiments, a tablet may be used in conjunction with display 34and/or without display 34. In embodiments, the table may be disposed onupper display support 32, in place of display 34, and may be removablefrom upper display support 32 during a medical operation. In additionthe tablet may communicate with display 34. The tablet may be able toconnect to robot support system 4 by any suitable wireless and/or wiredconnection. In embodiments, the tablet may be able to program and/orcontrol automated medical system 2 during a medical operation. Whencontrolling automated medical system 2 with the tablet, all input andoutput commands may be duplicated on display 34. The use of a tablet mayallow an operator to manipulate robot support system 4 without having tomove around patient 50 and/or to robot support system 4.

As illustrated in FIG. 5, camera tracking system 6 may work inconjunction with robot support system 4. Described above, cameratracking system 6 and robot support system 4 may be able to attach toeach other. Camera tracking system 6, now referring to FIG. 1, maycomprise similar components of robot support system 4. For example,camera body 36 may provide the functionality found in robot body 8.Robot body 8 may provide the structure upon which camera 46 may bemounted. The structure within robot body 8 may also provide support forthe electronics, communication devices, and power supplies used tooperate camera tracking system 6. Camera body 36 may be made of the samematerial as robot body 8. Camera tracking system 6 may also communicatewith robot support system 4 by any suitable means. Suitable means maybe, but are not limited to, a wired or wireless connection.Additionally, camera tracking system 6 may communicate directly to thetable by a wireless and/or wired connection. This communication mayallow the tablet to control the functions of camera tracking system 6.

Camera body 36 may rest upon camera base 38. Camera base 38 may functionas robot base 10. In embodiments, as illustrated in FIG. 1, camera base38 may be wider than robot base 10. The width of camera base 38 mayallow for camera tracking system 6 to connect with robot support system4. As illustrated in FIG. 1, the width of camera base 38 may be largeenough to fit outside robot base 10. When camera tracking system 6 androbot support system 4 are connected, the additional width of camerabase 38 may allow automated medical system 2 additional maneuverabilityand support for automated medical system 2.

As with robot base 10, a plurality of powered wheels 12 may attach tocamera base 38. Powered wheel 12 may allow camera tracking system 6 tostabilize and level or set fixed orientation in regards to patient 50,similar to the operation of robot base 10 and powered wheels 12. Thisstabilization may prevent camera tracking system 6 from moving during amedical procedure and may keep camera 46 from losing track of DRA 52within a designated area. This stability and maintenance of tracking mayallow robot support system 4 to operate effectively with camera trackingsystem 6. Additionally, the wide camera base 38 may provide additionalsupport to camera tracking system 6. Specifically, a wide camera base 38may prevent camera tracking system 6 from tipping over when camera 46 isdisposed over a patient, as illustrated in FIG. 5. Without the widecamera base 38, the outstretched camera 46 may unbalance camera trackingsystem 6, which may result in camera tracking system 6 falling over.

Camera telescoping support 40 may support camera 46. In embodiments,telescoping support 40 may move camera 46 higher or lower in thevertical direction. Telescoping support 40 may be made of any suitablematerial in which to support camera 46. Suitable material may be, but isnot limited to, metal such as titanium, aluminum, or stainless steel,carbon fiber, fiberglass, or heavy-duty plastic. Camera handle 48 may beattached to camera telescoping support 40 at any suitable location.Cameral handle 48 may be any suitable handle configuration. A suitableconfiguration may be, but is not limited to, a bar, circular,triangular, square, and/or any combination thereof. As illustrated inFIG. 1, camera handle 48 may be triangular, allowing an operator to movecamera tracking system 6 into a desired position before a medicaloperation. In embodiments, camera handle 48 may be used to lower andraise camera telescoping support 40. Camera handle 48 may perform theraising and lowering of camera telescoping support 40 through thedepression of a button, switch, lever, and/or any combination thereof.

Lower camera support arm 42 may attach to camera telescoping support 40at any suitable location, in embodiments, as illustrated in FIG. 1,lower camera support arm 42 may rotate three hundred and sixty degreesaround telescoping support 40. This free rotation may allow an operatorto position camera 46 in any suitable location. Lower camera support arm42 may be made of any suitable material in which to support camera 46.Suitable material may be, but is not limited to, metal such as titanium,aluminum, or stainless steel, carbon fiber, fiberglass, or heavy-dutyplastic. Cross-section of lower camera support arm 42 may be anysuitable shape. Suitable cross-sectional shape may be, but is notlimited to, circle, square, rectangle, hexagon, octagon, or i-beam. Thecross-sectional length and width may be about one to ten inches. Lengthof the lower camera support arm may be about four inches to aboutthirty-six inches. Lower camera support arm 42 may connect totelescoping support 40 by any suitable means. Suitable means may be, butis not limited to, nuts and bolts, ball and socket fitting, pressfitting, weld, adhesion, screws, rivets, clamps, latches, and/or anycombination thereof. Lower camera support arm 42 may be used to providesupport for camera 46. Camera 46 may be attached to lower camera supportarm 42 by any suitable means. Suitable means may be, but is not limitedto, nuts and bolts, ball and socket fitting, press fitting, weld,adhesion, screws, rivets, and/or any combination thereof. Camera 46 maypivot in any direction at the attachment area between camera 46 andlower camera support arm 42. In embodiments a curved rail 44 may bedisposed on lower camera support arm 42.

Curved rail 44 may be disposed at any suitable location on lower camerasupport arm 42. As illustrated in FIG. 3, curved rail 44 may attach tolower camera support arm 42 by any suitable means. Suitable means maybe, but are not limited to nuts and bolts, ball and socket fitting,press fitting, weld, adhesion, screws, rivets, clamps, latches, and/orany combination thereof. Curved rail 44 may be of any suitable shape, asuitable shape may be a crescent, circular, oval, elliptical, and/or anycombination thereof. In embodiments, curved rail 44 may be anyappropriate length. An appropriate length may be about one foot to aboutsix feet. Camera 46 may be moveably disposed along curved rail 44.Camera 46 may attach to curved rail 44 by any suitable means. Suitablemeans may be, but are not limited to rollers, brackets, braces, motors,and/or any combination thereof. Motors and rollers, not illustrated, maybe used to move camera 46 along curved rail 44. As illustrated in FIG.3, during a medical procedure, if an object prevents camera 46 fromviewing one or more DRAs 52, the motors may move camera 46 along curvedrail 44 using rollers. This motorized movement may allow camera 46 tomove to a new position that is no longer obstructed by the objectwithout moving camera tracking system 6. While camera 46 is obstructedfrom viewing DRAs 52, camera tracking system 6 may send a stop signal torobot support system 4, display 34, and/or a tablet. The stop signal mayprevent SCARA 24 from moving until camera 46 has reacquired DRAs 52.This stoppage may prevent SCARA 24 and/or end effector 22 from movingand/or using medical tools without being tracked by automated medicalsystem 2.

End effector 22, as illustrated in FIG. 6, may be used to connectsurgical tools to robot support system 4. End effector 22 may comprise asaddle joint 62, an activation assembly 60, a load cell 64, and a toolconnection 66. Saddle joint 62 may attach end effector 22 to SCARA 24.Saddle joint 62 may be made of any suitable material. Suitable materialmay be, but is not limited to metal such as titanium, aluminum, orstainless steel, carbon fiber, fiberglass, or heavy-duty plastic. Saddlejoint 62 may be made of a single piece of metal which may provide endeffector with additional strength and durability. In examples saddlejoint 62 may attach to SCARA 24 by an attachment point 68. There may bea plurality of attachment points 68 disposed about saddle joint 62.Attachment points 68 may be sunk, flush, and/or disposed upon saddlejoint 62. In examples, screws, nuts and bolts, and/or any combinationthereof may pass through attachment point 68 and secure saddle joint 62to SCARA 24. The nuts and bolts may connect saddle joint 62 to a motor,not illustrated, within SCARA 24. The motor may move saddle joint 62 inany direction. The motor may further prevent saddle joint 62 from movingfrom accidental bumps and/or accidental touches by actively servoing atthe current location or passively by applying spring actuated brakes.Saddle joint 62 may provide the base upon which a load cell 64 and atool connection 66 may be disposed.

Load cell 64, as illustrated in FIGS. 7 and 8 may attach to saddle joint62 by any suitable means. Suitable means may be, but is not limited to,screws, nuts and bolts, threading, press fitting, and/or any combinationthereof. Load cell 64 may be any suitable instrument used to detect andmeasurement movement. In examples, load cell 64 may be a six axis loadcell, a three-axis load cell or a uniaxial load cell. Load cell 64 maybe used to track the force applied to end effector 22. As illustrated inFIG. 17, a schematic may show the communication between load cell 64 anda motor 120. In embodiments a load cell 64 may communicate with aplurality of motors 120. As load cell 64 senses force, information as tothe amount of force applied may be distributed from a switch array 122and/or a plurality of switch arrays to a microcontroller unit 122.Microcontroller unit 124 may take the force information from load cell64 and process it with a switch algorithm. The switch algorithm mayallow microcontroller unit 124 to communicate with a motor driver 126. Amotor driver 126 may control the function of a motor 120, with whichmotor driver 126 may communicate. Motor driver 126 may direct specificmotors 120 to produce an equal amount of force measured by load cell 64through motor 120. In embodiments, the force produced may come from aplurality of motors 120, as directed by microcontroller unit 124.Additionally, motor driver 126 may receive input from motion controller128. Motion controller 128 may receive information from load cell 64 asto the direction of force sensed by load cell 64. Motion controller 128may process this information using a motion controller algorithm. Thealgorithm may be used to provide information to specific motor drivers126. To replicate the direction of force, motion controller 128 mayactivate and/or deactivate certain motor drivers 126. Working in unisonand/or separately, microcontroller unit 124 and motion controller 128may control motor 120 (or a plurality of motors 120) to induce motion inthe direction of force sensed by load cell 64. This force-controlledmotion may allow an operator to move SCARA 24 and end effector 22effortlessly and/or with very little resistance. Movement of endeffector 22 may position tool connection 66 in any suitable location foruse by medical personnel.

Tool connection 66 may attach to load cell 64. Tool connection 66 maycomprise attachment points 68, a sensory button 70, tool guides 72,and/or tool connections 74. Best illustrated in FIGS. 6 and 8, there maybe a plurality of attachment points 68. Attachment points 68 may connecttool connection 66 to load cell 64. Attachment points 68 may be sunk,flush, and/or disposed upon tool connection 66. Connectors 76 may useattachment points 68 to attach tool connection 66 to load cell 64. Inexamples, connectors 76 may be screws, nuts and bolts, press fittings,and/or any combination thereof.

As illustrated in FIG. 6, a sensory button 70 may be disposed aboutcenter of tool connection 66. Sensory button 70 may be depressed when anend effector tool 26, best illustrated in FIG. 4, is connected to endeffector 22. Depression of sensory button 70 may alert robot supportsystem 4, and in turn medical personnel, that an end effector tool 26has been attached to end effector 22. As illustrated in FIG. 6, toolguides 72 may be used to facilitate proper attachment of end effectortool 26 to end effector 22. Tool guides 72 may be sunk, flush, and/ordisposed upon tool connection 66. In examples there may be a pluralityof tool guides 72 and may have any suitable patterns and may be orientedin any suitable direction. Tool guides 72 may be any suitable shape tofacilitate attachment of end effector tool 26 to end effector 22. Asuitable shape may be, but is not limited to, circular, oval, square,polyhedral, and/or any combination thereof. Additionally, tool guides 72may be cut with a bevel, straight, and/or any combination thereof.

Tool connection 66 may have attachment points 74. As illustrated in FIG.6, attachment points 74 may form a ledge and/or a plurality of ledges.Attachment points 74 may provide end effector tool 26 a surface uponwhich end effector tool 26 may clamp. In examples, attachment points 74may be disposed about any surface of tool connection 66 and oriented inany suitable manner in relation to tool connection 66.

Tool connection 66 may further serve as a platform for activationassembly 60. Activation assembly 60, best illustrated in FIGS. 6 and 8,may encircle tool connection 66. In embodiments, activation assembly 60may take the form of a bracelet. As bracelet, activation assembly 60 maywrap around tool connection 66. In embodiments, activation assembly 60,may be located in any suitable area within automated medical system 2.In examples, activation assembly 60 may be located on any part of SCARA24, any part of end effector 22, may be worn by medical personnel (andcommunicate wirelessly), and/or any combination thereof. Activationassembly 60 may be made of any suitable material. Suitable material maybe, but is not limited to neoprene, plastic, rubber, gel, carbon fiber,fabric, and/or any combination thereof. Activation assembly 60 maycomprise of a primary button 78 and a secondary button 80. Primarybutton 78 and secondary button 80 may encircle the entirety of toolconnection 66. Primary button 78 may be a single ridge, as illustratedin FIG. 6, which may encircle tool connection 66. In examples, primarybutton 78 may be disposed upon activation assembly 60 along the endfarthest away from saddle joint 62. Primary button 78 may be disposedupon primary activation switch 82, best illustrated on FIG. 7. Primaryactivation switch 82 may be disposed between tool connection 66 andactivation assembly 60. In examples, there may be a plurality of primaryactivation switches 82, which may be disposed adjacent and beneathprimary button 78 along the entire length of primary button 78.Depressing primary button 78 upon primary activation switch 82 may allowan operator to move SCARA 24 and end effector 22. As discussed above,once set in place, SCARA 24 and end effector 22 may not move until anoperator programs robot support system 4 to move SCARA 24 and endeffector 22, or is moved using primary button 78 and primary activationswitch 82. In examples, it may require the depression of at least twonon-adjacent primary activation switches 82 before SCARA 24 and endeffector 22 will respond to commands. Depression of at least two primaryactivation switches 82 may prevent the accidental movement of SCARA 24and end effector 22 during a medical procedure.

Activated by primary button 78 and primary activation switch 82, loadcell 64 may measure the force magnitude and/or direction exerted uponend effector 22 by medical personnel. This information may betransferred to motors within SCARA 24 that may be used to move SCARA 24and end effector 22. Information as to the magnitude and direction offorce measured by load cell 64 may cause the motors to move SCARA 24 andend effector 22 in the same direction as sensed by load cell 64. Thisforce-controlled movement may allow the operator to move SCARA 24 andend effector 22 easily and without large amounts of exertion due to themotors moving SCARA 24 and end effector 22 at the same time the operatoris moving SCARA 24 and end effector 22.

Secondary button 80, as illustrated in FIG. 6, may be disposed upon theend of activation assembly 60 closest to saddle joint 62. In examplessecondary button 80 may comprise a plurality of ridges. The plurality ofridges may be disposed adjacent to each other and may encircle toolconnection 66. Additionally, secondary button 80 may be disposed uponsecondary activation switch 84. Secondary activation switch 84, asillustrated in FIG. 7, may be disposed between secondary button 80 andtool connection 66. In examples, secondary button 80 may be used by anoperator as a “selection” device. During a medical operation, robotsupport system 4 may notify medical personnel to certain conditions bydisplay 34 and/or light indicator 28. Medical personnel may be promptedby robot support system 4 to select a function, mode, and/or asses thecondition of automated medical system 2. Depressing secondary button 80upon secondary activation switch 84 a single time may activate certainfunctions, modes, and/or acknowledge information communicated to medicalpersonnel through display 34 and/or light indicator 28. Additionally,depressing secondary button 80 upon secondary activation switch 84multiple times in rapid succession may activate additional functions,modes, and/or select information communicated to medical personnelthrough display 34 and/or light indicator 28. In examples, at least twonon-adjacent secondary activation switches 84 may be depressed beforesecondary button 80 may function properly. This requirement may preventunintended use of secondary button 80 from accidental bumping by medicalpersonnel upon activation assembly 60. Primary button 78 and secondarybutton 80 may use software architecture 86 to communicate commands ofmedical personnel to automated medical system 2.

FIG. 9 illustrates a flow chart of software architecture 86 which may beused within automated medical system 2. Software architecture 86 may beused to automated robot support system 4 and camera tracking system 6.Additionally, software architecture 86 may allow an operator tomanipulate automated medical system 2 based upon commands given from theoperator. In examples, operator commands may comprise Picture Archivaland Communication Systems (PACS) 88 (which may communicate withautomated imaging system 104, discussed below), USB Devices 90, andcommands from tablet 54. These operator commands may be received andtransferred throughout automated medical system 2 by a computerprocessor 92. Computer processor 92 may be able to receive all commandsand manipulate automated medical system 2 accordingly. In examples,computer processor 92 may be able to control and identify the locationof individual parts that comprise automated medical system 2.Communicating with camera tracking system 6 and display 34, computerprocessor 92 may be able to locate a patient, end effector 22, and robotsupport system 4 in a defined space (e.g., illustrated in FIG. 5).Additionally, computer processor 92 may be able to use commands fromdisplay 34 and camera tracking system 6 to alter the positions of SCARA24. Information from load cell 64, based upon measured force magnitudeand direction, may be processed by computer processor 92 and sent tomotors within SCARA 24, as discussed above. A General Algebraic ModelingSystem (GAMS) 94 may translate information regarding force magnitude anddirection from load cell 64 to electronic signals which may be useableby computer processor 92. This translation may allow computer processor92 to track the location and movement of robot support system 4 in adefined space when SCARA 24 and end effector 22 are moving. Computerprocessor 92 may further use firmware 96 to control commands and signalsfrom robot body 8. Firmware 96 may comprise commands that are hardwiredto automated medical system 2. For example, computer processor 92 mayrequire power from power supply 98 to operate. Firmware 96 may controlthe distribution of power from power supply 98 to automated medicalsystem 2. Additionally, computer processor 92 may control firmware 96and the power distribution based on operator commands. In examples,firmware 96 may communicate with light indicator 28, powered wheels 12,and platform interface 100. Platform interface 100 may be a series ofhardwired button commands that directly control automated medical system2. Button commands are not limited to but may comprise functions thatmay move automated medical system 2 in any direction, initiate anemergency stop, initiate movement of SCARA 24, and/or communicatecurrent system functionality to medical personnel. Computer processor 92may process and distribute all operator commends to perform programmedtasks by medical personnel.

Automated imaging system 104 may be used in conjunction with automatedmedical system 2 to acquire pre-operative, intra-operative,post-operative, and/or real-time image data of patient 50. Anyappropriate subject matter may be imaged for any appropriate procedureusing automated imaging system 104. In embodiments, automated imagingsystem 104 may be an O-arm® 106 and/or a C-arm 108 device. (O-arm® iscopyrighted by Medtronic Navigation, Inc. having a place of business inLouisville, Colo., USA) It may be desirable to take x-rays of patient 50from a number of different positions, without the need for frequentmanual repositioning of patient 50 which may be required in an x-raysystem. C-arm 108 x-ray diagnostic equipment may solve the problems offrequent manual repositioning and may be well known in the medical artof surgical and other interventional procedures. As illustrated in FIG.10, a C-arm 108 may comprise an elongated C-shaped member 110terminating in opposing distal ends 112 of the “C” shape. C-shapedmember 110 may further comprise an x-ray source 114 and an imagereceptor 116, which may be mounted at or near distal ends 112,respectively, of C-arm 108 in opposing orientation, with C-arm 108supported in a suspended position. The space within C-arm 108 of the armmay provide room for the physician to attend to the patientsubstantially free of interference from x-ray support structure 118.X-ray support structure 118 may rest upon wheels 120, which may enableC-arm 108 to be wheeled from room to room and further along the lengthof patient 50 during a medical procedure. X-ray images produced fromC-arm 108 may be used in an operating room environment to help ensurethat automated medical system 2 may be properly positioned during amedical procedure.

C-arm 108 may be mounted to enable rotational movement of the arm in twodegrees of freedom, (i.e. about two perpendicular axes in a sphericalmotion). C-arm 108 may be slidably mounted to x-ray support structure118, which may allow orbiting rotational movement of C-arm 108 about itscenter of curvature, which may permit selective orientation of x-raysource 114 and image receptor 116 vertically and/or horizontally. C-arm108 may also be laterally rotatable, (i.e. in a perpendicular directionrelative to the orbiting direction to enable selectively adjustablepositioning of x-ray source 114 and image receptor 116 relative to boththe width and length of patient 50). Spherically rotational aspects ofC-arm 108 apparatus may allow physicians to take x-rays of patient 50 atan optimal angle as determined with respect to the particular anatomicalcondition being imaged. In embodiments a C-arm 108 may be supported on awheeled support cart 120. In embodiments an O-arm® 106 may be usedseparately and/or in conjunction with C-arm 108.

An O-arm® 106, as illustrated in FIG. 11, may comprise a gantry housing124, which may enclose an image capturing portion, not illustrated. Theimage capturing portion may include an x-ray source and/or emissionportion and an x-ray receiving and/or image receiving portion, which maybe disposed about one hundred and eighty degrees from each other andmounted on a rotor (not illustrated) relative to a track of the imagecapturing portion. The image capturing portion may be operable to rotatethree hundred and sixty degrees during image acquisition. The imagecapturing portion may rotate around a central point and/or axis,allowing image data of patient 50 to be acquired from multipledirections or in multiple planes.

In embodiments O-arm® 106 may comprise a gantry housing 124 having acentral opening 126 for positioning around an object to be imaged, asource of radiation that is rotatable around the interior of gantryhousing 124, which may be adapted to project radiation from a pluralityof different projection angles. A detector system may be adapted todetect the radiation at each projection angle to acquire object imagesfrom multiple projection planes in a quasi-simultaneous manner. Inembodiments, a gantry may be attached to a support structure O-arm®support structure 128, such as a wheeled mobile cart 130 with wheels132, in a cantilevered fashion. A positioning unit 134 may translateand/or tilt the gantry to a desired position and orientation, preferablyunder control of a computerized motion control system. The gantry mayinclude a source and detector disposed opposite one another on thegantry. The source and detector may be secured to a motorized rotor,which may rotate the source and detector around the interior of thegantry in coordination with one another. The source may be pulsed atmultiple positions and orientations over a partial and/or full threehundred and sixty degree rotation for multi-planar imaging of a targetedobject located inside the gantry. The gantry may further comprise a railand bearing system for guiding the rotor as it rotates, which may carrythe source and detector. Both and/or either O-arm® 106 and C-arm 108 maybe used as automated imaging system 104 to scan patient 50 and sendinformation to automated medical system 2.

Automated imaging system 104 may communicate with automated medicalsystem 2 before, during, and/or after imaging has taken place.Communication may be performed through hard wire connections and/orwireless connections. Imaging may be produced and sent to automatedmedical system 2 in real time. Images captured by automated imagingsystem 104 may be displayed on display 34, which may allow medicalpersonnel to locate bone and organs within a patient. This localizationmay further allow medical personnel to program automated medical system2 to assist during a medical operation.

During a medical operation, medical personnel may program robot supportsystem 4 to operate within defined specifications. For examples, asillustrated in FIG. 12, a patient 50 may have a medical procedureperformed upon the spine. Medical personnel may use imaging equipment tolocate and find the spine, as detailed above. Using the images, anoperator may upload the information regarding the location of the spineinto automated medical system 2. Automated medical system 2 may thentrack, locate, and move end effector tools 26 to areas specified by theoperator. In an example, a gravity well 102 and/or a plurality ofgravity wells 102 may be mapped in relation to the spine of patient 50,as illustrated in FIG. 12. Gravity wells 102 may be virtual regions,programmed by an operator, that cause SCARA to function in a differentmode once entered. Gravity wells 102 may be any suitable shape,including but not limited to conical, cylindrical, spherical, orpyramidal. These gravity wells may cause SCARA 24 and end effector 22 tomove toward the direction, angle, and location programmed by medicalpersonnel.

As illustrated in FIG. 13, the center line of a gravity well 102indicates, in a virtual space, the angle and location end effector tool26 may need to be positioned for a medical procedure. Alternately, anyvector within the gravity well, not just the centerline, could be thetarget toward which the end effector tool is forced. End effector tool26, as illustrated, may be moved by an operator using activationassembly 60, discussed above. As end effector tool 26 moves from outsidethe region of the gravity well to within the region of gravity well 102,the operator may feel the motors in SCARA 24 begin to move end effectortool 26 toward the programmed position of the centerline of gravity well102. As illustrated in FIG. 14, gravity well 102 may maneuver endeffector tool 26 into the programmed position. In an example, while endeffector tool 26 is still in the gravity well, if the operator begins tomove end effector tool 26 away from the center of the gravity well usingactivation assembly 60, the operator may feel the motors provideresistance against the movement. The resistance from the motors may notbe strong enough resistance to keep end effector tool 26 within gravitywell 102. This weak resistance may be beneficial as it may allow theoperator to maneuver end effector tool 26 out of one gravity well andinto any additional gravity well 102. The amount of force pulling theend effector toward the centerline of the gravity well 102 may beinversely proportional to the distance from the centerline. As anexample, when first entering the gravity well, the operator may feelslight pull toward the centerline of the gravity well, and as the endeffector tool 26 comes into closer proximity with the centerline of thegravity well, the magnitude of force may increase. Gravity well 102 maybe programmed into automated medical system 2 before the medicaloperation and/or during the medical operation. This ability to adjustprogramming may allow medical personnel to move the centerline and/orchange the volume of a gravity well 102 based on the changing conditionsof the medical procedure. Gravity wells 102 may allow automated medicalsystem 2 to place end effector tools 26 in the required area quickly,easily, and correctly.

Although the present invention and its advantages have been described indetail, it should be understood that various changes, substitutions andalterations may be made herein without departing from the spirit andscope of the invention as defined by the appended claims.

What is claimed is:
 1. An apparatus, comprising: a robot arm; an endeffector coupled at a distal end of the robot arm and configured to holda surgical tool; a plurality of motors operable to move the robot arm;and an activation assembly operable to send a move signal allowing anoperator to move the robot arm, wherein the activation assembly is inthe form of a bracelet on the end effector.
 2. The apparatus of claim 1,wherein the end effector further comprises a load cell operable todetect and measure force applied to the end effector.
 3. The apparatusof claim 2, wherein the load cell is in communication with a motordriver of the plurality of motors by way of a microcontroller unit. 4.The apparatus of claim 2, wherein the microcontroller unit and/or amotion controller receive information on the force applied to the endeffector measured by the load cell and control the plurality of motorsto replicate the motion and direction of the force applied to the endeffector.
 5. The apparatus of claim 2, wherein the end effectorcomprises a saddle joint, the load cell being coupled to the saddlejoint.
 6. The apparatus of claim 1, wherein the activation assemblycomprises a primary button and one or more primary activation switches,wherein primary button is disposed upon the one or more primaryactivation switches, wherein depression of the primary button isrequired to send the move signal.
 7. The apparatus of claim 6, whereinthe one or more primary activation switches comprises two or moreprimary activation switches activated by the primary button, whereindepression of at least two of the primary activation switches isrequired for the operator to move the robot arm.
 8. The apparatus ofclaim 5, wherein the primary button comprises a ridge that encircles theend effector.
 9. The apparatus of claim 5, wherein the activationassembly further comprises a secondary button operable to selectfunctions, modes, and/or acknowledge information communicated to anoperator.
 10. The apparatus of claim 9, wherein the primary buttoncomprises a ridge that encircles the end effector, and wherein thesecondary button comprises a ridge that encircles the end effector. 11.A method of moving a robot arm comprising: depressing a primary buttonon an activation assembly; applying force to the activation assembly;sensing the force with a load cell; communicating force to a computerprocessor; activating motors within robot arm using the computerprocessor; and moving the robot arm with the motors in the direction ofthe applied force, wherein the primary button comprises a ridgeencircling an end effector coupled to the robot arm, the end effectorholding a surgical tool.
 12. The method of claim 11, wherein depressingthe primary button activates one or more primary activation switches.13. The method of claim 12, wherein moving the robot arm requiresactivating of at least two primary activation switches.